Myoelectric Hand Prosthesis with Novel Adaptive Grasping and Self-locking

Title
Myoelectric Hand Prosthesis with Novel Adaptive Grasping and Self-locking
Authors
추준욱정동현윤인찬최귀원이연정
Keywords
Hand prosthesis; Underactuation; Adaptive grasping; Self-locking; EMG pattern recognition
Issue Date
2011-12
Publisher
International Journal of Precision Engineering and Manufacturing
Citation
VOL 12, NO 6, 1095-1103
Abstract
This paper presents a novel hand prosthesis controlled by electromyography (EMG) signals. Using an underactuated approach, the hand allows four fingers to flex independently with one actuator, plus the fingers and phalanges provide adaptation with respect to the shape of an object. An innovative self-lock is also embedded in the metacarpophalangeal joint to prevent back-driving when external forces act on the fingers. The thumb is designed to perform flexion/extension and abduction/adduction with one actuator, while the wrist is driven in a differential manner using two actuators. As a result, the hand has eighteen degrees of freedom with only four actuators. Furthermore, it is controlled in real-time by the previously proposed EMG pattern recognition method.13 Ten kinds of hand motions are classified from four channel EMG signals with a high accuracy and corresponding motion commands are generated for hand control. Experimental results demonstrate the effectiveness of the hand design and validity of the EMG-based hand control.
URI
http://pubs.kist.re.kr/handle/201004/41397
ISSN
1229-8557
Appears in Collections:
KIST Publication > Article
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